Real Time Control of Hardware In-the-Loop Simulation Based on CAN Bus and RTX

Abstract

In Hardware In-the-Loop Simulation(HILS) of missile, real time is the main consideration. Due to the poor real time performance of the Windows system, a real time solution scheme for HILS of missile based on the RTX system is proposed, and the design of the RTX hardware driver and the reflective memory technology are introduced. Aiming at the problem of precise timing and data synchronization in real time system, the timer of RTX is studied and a hardware solution for data synchronization is proposed. For the CAN bus to long distance transmission in high baud rate conditions, the CAN relay station is designed. The HILS platform has been built, and the result of simulation is correct without missing frames and wrong frames, meeting the requirements of stability and reliability.